KR101624405B1 - Automatic posture change system for care-bed users - Google Patents
Automatic posture change system for care-bed users Download PDFInfo
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- KR101624405B1 KR101624405B1 KR1020140080132A KR20140080132A KR101624405B1 KR 101624405 B1 KR101624405 B1 KR 101624405B1 KR 1020140080132 A KR1020140080132 A KR 1020140080132A KR 20140080132 A KR20140080132 A KR 20140080132A KR 101624405 B1 KR101624405 B1 KR 101624405B1
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Abstract
The present invention estimates the attitude of a user on a bed by using an inertial sensor, estimates the attitude of a user through kinematic analysis of a linear actuator operation and a link driving mechanism used for changing the attitude of the bed, The present invention relates to an automatic pose changing system for a bed for a nursing bed, in which a user's posture can be switched based on a bump angle of the back plate, which is provided at a predetermined position on the back plate, A fulcrum angle sensing portion for sensing a bending angle of the fulcrum at a predetermined interval based on the hip portion and outputting the sensed bending angle at a predetermined interval, The bending angle of the back plate and the bending angle of the femoral plate, which are respectively input from the guide portions, exceed the preset time A back angle adjusting unit for rotating the back plate in the upward or downward direction based on the back angle of the back plate in response to the back angle adjusting signal of the control unit, And a thigh plate angle adjusting unit that rotates the femoral plate in an upward or downward direction with respect to the hip plate in response to the adjustment signal. Accordingly, it is possible to change the posture without being assisted by other users such as a user or a caregiver.
Description
The present invention relates to an automatic attitude switching system of a bed for a bed for a user, and more particularly to an automatic attitude changing system for a bed for a user who estimates the attitude of a user on a bed by using an inertial sensor, The present invention relates to an automatic posture switching system of a bed for a nursing bed, in which a posture of a user is estimated through a kinematic analysis, and a user posture on a bed is changed based on an estimation result.
The care-bed is one of the representative assistive-devices for the elderly and the handicapped who have difficulty in moving. In long-term care, care should be taken to maintain the same posture for a long time, to develop a pressure ulcer, and to injure the caregiver's posture change care. In particular, in order to prevent the pressure ulcer, it is important to disperse the body pressure applied to the same site for a long period of time by changing the posture of the user lying in the bed for a certain period of time.
Currently, most beds are powered by motor and the angle of the back plate or thigh plate can be adjusted. That is, the existing bed for resting the user can rotate the user by controlling a mechanism for winding a seat on both ends of the bed mattress or adjusting the angle of the bed mattress.
However, since it is possible to change the posture only by the operation of the user or the caregiver, it is necessary to automatically change the posture according to the posture of the bed user. There are many demands for automatic posture conversion especially for the caregiver 's convenience in night care.
In order to satisfy such a demand, the present invention estimates the attitude of the user on the bed by using the inertial sensor, and calculates the posture of the user of the bed for the user to change the posture of the user on the bed, And a switching system.
The present invention also provides a method of estimating a posture of a user through a linear actuator operation and a kinematic analysis of a link driving mechanism used for changing a posture of a bed, And an automatic posture switching system of a bed user. That is, according to the present invention, an automatic posture switching system of a bed for a user of a bed for automatically changing the posture of a user by estimating only the angle between two plates by a separate link structure without measuring the angles of the back plate and the femoral plate The purpose is to provide.
The automatic restoration system of a rest room user according to an embodiment of the present invention includes a leg plate, a fulcrum plate, a hip plate, and a back plate separated from each other and coupled to be rotatable relative to each other, And a bending angle detecting unit for detecting a bending angle of the back plate at a predetermined interval based on the hip plate, When the bending angle of the back plate and the bending angle of the femoral plate that are respectively input from the femoral plate angle sensing portion, the backing angle sensing portion and the femoral plate angle sensing portion are maintained to exceed the predetermined time, A control unit for controlling the back plate in accordance with the back angle adjustment signal of the control unit, I femoral plate angle to rotate the femoral plate in response to the femoral plate angle control signal from the control section and the control section starts an angle upwardly or downwardly based on the adjustment of the hip plate may include a.
As an embodiment related to the present invention, the angle-of-view angle sensing part and the femoral-plate angle sensing part may be a three-axis inertial sensor or a displacement sensor.
As an embodiment related to the present invention, the angle-of-view angle sensing portion and the angle of the femoral plate angle sensing portion are determined based on the gravitational acceleration acting on the X axis and the Z axis
As an embodiment related to the present invention, the control unit calculates the angle of incidence θ 1 by using θ 1 = tan -1 [-G PX / G PZ ] and θ 2 = 180-tan -1 [-G PX / G PZ ] And the femoral plate angle? 2 can be estimated.
As an embodiment related to the present invention, the controller may control the back angle adjusting unit and the femoral plate angle adjusting unit so that the back plate and the femoral plate are rotated in the same direction.
As an embodiment related to the present invention, the controller may control the back angle adjusting unit and the femoral plate angle adjusting unit so that the back plate and the femoral plate are rotated in the upward direction and then rotated in the downward direction, sequentially and repeatedly.
The automatic pose changing system according to an embodiment of the present invention includes a leg plate, a fulcrum plate, a hip plate, and a back plate separated from each other and coupled to be rotatable relative to each other, A second link which is rotatably coupled to the first link and a first linear driver which is coupled to the second link so that the second link is driven forward or backward; A third link rotatably coupled to the buttock plate connection portion, a fourth link rotatably coupled to the third link, and a second linear driver coupled to the fourth link such that the fourth link is driven forward or backward A fist plate angle adjusting unit for calculating a distance between the connection unit and the first linear actuator based on the first link and the second link length, A linear actuator length measuring part for estimating and outputting a distance from the connecting part to the second linear actuator based on the third driver link length measuring part, the third link and the fourth link length, The distance from the connecting portion to the first linear actuator estimated by the actuator length measuring portion and the distance from the connecting portion to the second linear actuator are inputted to estimate the back plate bending angle and the femoral plate bending angle, When the bending angle is maintained over a predetermined time, a control unit for outputting a backlash linear actuator length adjustment signal and a thigh plate linear actuator length adjustment signal, a first linear actuator for adjusting a second link in response to a backlash linear actuator length adjustment signal of the control unit, A back-up linear actuator for advancing or retracting by a distance, a length adjuster for the linear actuator, A second linear actuator in response to a control signal group length may comprise a fourth link, a distance as much as the forward or backward driving femoral plate linear driver unit for length adjustment.
As an embodiment related to the present invention,
As an embodiment related to the present invention, the control unit may control the backlash linear actuator length adjuster and the fulcrum linear actuator length adjuster so that the back plate and the thigh plate are rotated in the same direction.
As an embodiment related to the present invention, the controller may control the back-and-forth linear actuator length adjusting unit and the femoral-plate linear actuator length adjusting unit so as to sequentially and repeatedly rotate the back plate and the femoral plate in the upward direction and then in the downward direction have.
The present invention estimates the attitude of the user on the bed by using the inertial sensor and automatically changes the user's posture on the bed based on the estimation result to obtain the assistance of the user such as the user or the caregiver So that it is possible to change the posture without having to.
The present invention also provides a method for estimating a posture of a user through a linear actuator operation and a kinematic analysis of a link driving mechanism used for changing the attitude of a bed for rest, .
In addition, the present invention has an effect of preventing the pressure sorbing from occurring due to the fact that the body posture concentrated on the body is dispersed or moved to be left in the same posture for a long time by automatically switching the posture of the patient lying on the bed, Caregiver care can be injured by the force applied to forcibly turn the patient's posture, and it is effective to prevent such injury by forcible force by removing such environmental factor.
1 is a view for explaining a first embodiment of an automatic posture switching system of a bed for a bed according to the present invention.
2 is a view for explaining a second embodiment of an automatic posture switching system of a bed for a bed according to the present invention.
3 is a view for explaining a third embodiment of an automatic posture switching system of a bed for a bed according to the present invention.
4 is a view for explaining a fourth embodiment of an automatic posture switching system of a bed for a bed according to the present invention.
5 is a view for explaining the axis definition of the inertial sensor and the relative angle from this axis.
6 is a view for explaining a state in which the inertial sensor is provided in the dressing bed.
7 is a diagram for explaining a kinematic model of a drive mechanism of a back plate and a fulcrum plate according to driving of a linear actuator.
FIG. 8 is a graph showing the angle of the back angle of a medical treatment bed to which the present invention is applied.
FIG. 9 is a graph showing the angle of the thigh plate of the medical treatment bed to which the present invention is applied.
It is noted that the technical terms used in the present invention are used only to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in the present invention should be construed in a sense generally understood by a person having ordinary skill in the art to which the present invention belongs, unless otherwise defined in the present invention, Should not be construed to mean, or be interpreted in an excessively reduced sense. In addition, when a technical term used in the present invention is an erroneous technical term that does not accurately express the concept of the present invention, it should be understood that technical terms can be understood by those skilled in the art. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.
Furthermore, the singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as "comprising" or "comprising" and the like should not be construed as encompassing various elements or stages of the invention, Or may further include additional components or steps.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or similar elements throughout the several views, and redundant description thereof will be omitted.
In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.
It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings.
In the present invention, the bending angle of the back plate and the bending angle of the femoral plate mean the angle between the hip plate and the back plate, the hip plate and the femoral plate when the back plate and the femoral plate are rotated and then stopped.
( Example 1_ adopting automatic posture switching system using sensor)
1 is a view for explaining a first embodiment of an automatic posture switching system of a bed for a bed according to the present invention. 5 is a view for explaining the axis definition of the inertial sensor and the relative angle from this axis. 6 is a view for explaining a state in which the inertial sensor is provided in the dressing bed. FIG. 8 is a graph showing the angle of the back angle of a medical treatment bed to which the present invention is applied.
As shown in FIG. 1, an automatic posture switching system of a bed for a nursing bed user is divided into a leg plate, a femoral plate, a hip plate, and a back plate, A
6, the back
As shown in FIG. 6, the thigh plate
When the bending angle of the back plate and the bending angle of the femoral plate input from the fulcrum plate
The back
The femoral plate angle adjusting unit 150 rotates the femoral plate in the upward or downward direction with respect to the hip plate in response to the femoral plate angle adjusting signal of the
The backlash
Here, an acceleration sensor may be used as the inertial sensor.
The backlash
The
The
The
As described above, the automatic posture switching method of the automatic posture switching system of the nursing bed user according to the present invention will be described as follows.
The automatic posture switching system of the nursing bed user shown in Fig. 1 employs an inertial sensor to estimate the posture of the user lying on the nursing bed, drives the nursing bed on the basis of the estimation result, 5, the relative angle from the axis of the inertial sensor and the axis of the inertial sensor is described, and the nursing bed is rotated left and right by adjusting the roll angle Roll. The pitch angle (Pitch? 6) and the thigh plate (10 of Fig. 6) can be rotated.
6, the back angle
When the back plate bending angle and the femoral plate bending angle input from the back
That is, the
The
The
( Example 2_ Example 1 other Example )
2 is a view for explaining a second embodiment of an automatic posture switching system of a bed for a bed according to the present invention.
1, the
( Example 3_ attitude estimation and attitude change by kinematics)
3 is a view for explaining a third embodiment of an automatic posture switching system of a bed for a bed according to the present invention. 7 is a diagram for explaining a kinematic model of a drive mechanism of a back plate and a fulcrum plate according to driving of a linear actuator.
The automatic pose changing system according to an embodiment of the present invention includes a legged plate, a femoral plate, a hip plate, and a back plate, which are coupled to each other so as to be rotatable, A femoral plate linear actuator
The back
The femoral plate
Backing linear actuator
The femoral plate linear actuator
The
The backlash linear
The femoral plate linear
The
The
The
The automatic posture switching method of the automatic posture switching system of the above-described rest bed user will be described as follows.
First, the backlash linear actuator
When the back plate bending angle and the femoral plate bending angle are maintained to exceed the predetermined time, the back-up linear actuator length adjustment signal and the femoral plate linear actuator length adjustment signal are transmitted to the back-up linear
The femoral plate linear
At this time, the
As a result, by regulating the lengths of the backing linear actuator and the femoral plate linear actuator, the back plate and the thigh plate of the bed are rotated upward or downward at an angle to automatically switch the posture of the user lying on the bed, .
( Example 4_ Example 3 different Example )
4 is a view for explaining a fourth embodiment of an automatic posture switching system of a bed for a bed according to the present invention.
3, the
FIG. 8 is a graph showing the angle of the back angle of a medical treatment bed to which the present invention is applied. FIG. 9 is a graph showing the angle of the thigh plate of the medical treatment bed to which the present invention is applied.
Figs. 8 and 9 show an angle (a) measured by a three-dimensional measuring device, an estimated angle (b) using an inertia sensor, and an angle (c) estimated by kinematic analysis when the back plate and the femoral plate are driven As a graph, from the results, it was found that vibration occurs at the part where the operation stops when the inertia sensor is measured during back plate driving. No vibration was observed at the angle estimated by the kinematic analysis according to the length measurement of the linear actuator. Both the inertial sensor and displacement sensor measurement results show that the measurement angles and errors of the 3D measurement are almost nonexistent.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents thereof should be construed as falling within the scope of the present invention.
110: backlash angle indicator part 120: fulcrum angle indicator part
130: control unit 140: back angle adjusting unit
150: Femoral plate angle adjusting part
210: Linear Actuator Length Measuring Unit
220: Femoral plate linear actuator length measuring part
230:
240: Linear adjuster for adjusting the length of the backing plate
250: Femoral plate linear actuator length adjuster
Claims (10)
A second link rotatably coupled to the first link, and a second link coupled to the second link so that the second link is moved forward or backward An angle adjusting unit comprising a first linear actuator and a second linear actuator;
A fourth link rotatably coupled to the third link, and a second link coupled to the fourth link, wherein the fourth link is driven forward or backward A femoral plate angular adjustment unit including a second linear actuator for allowing the first linear actuator to rotate;
An equalizer linear actuator length measuring unit for estimating and outputting a distance from the connection unit to the first linear actuator based on the first link and the second link length;
A femoral plate linear actuator length measuring unit for estimating and outputting a distance from the connection unit to the second linear actuator based on the third link and the fourth link length;
The distance from the connection portion to the first linear actuator estimated by the back-up linear actuator length measuring portion and the femoral plate linear actuator length measuring portion, and the distance from the connecting portion to the second linear actuator, And outputs a back-up linear actuator length adjusting signal and a thigh plate linear actuator length adjusting signal when the estimated back bending angle and the bending angle of the thigh plate are maintained to exceed a predetermined time.
An equalizer linear actuator length adjuster that drives the first linear actuator to move the second link forward or backward by a predetermined distance in response to the equalizer linear actuator length adjustment signal of the controller; And
A femoral plate linear actuator length adjuster for causing the second linear actuator to move the fourth link forward or backward by a predetermined distance in response to a femoral plate linear actuator length adjustment signal of the controller;
The automatic posture switching system of the rest bed user.
The control unit
Where I B is the angle between the back plate and the first link, θ ' b is the distance between the gluteal plate and the connecting portion and the distance between the gluteal plate and the first linear actuator, I 1 is the first link length, I a1 is the second The link length, I ' b , represents the distance from the connection to the first linear actuator,
θL is the angle between the back panel and the third link, θ'1 is the angle between the distance and the hip plate to the second linear actuator from the hip plate and the connecting portion, I '1 is the third link length, I a2 is a second link length , I ' b represents the distance from the connecting portion to the second linear actuator
Wherein the control unit controls the back-up linear-actuator-length adjusting unit and the femoral-plate-like-type driver length adjusting unit so that the back-up plate and the femoral plate are rotated upwardly and then downwardly and sequentially and repetitively, Automatic posture switching system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020140080132A KR101624405B1 (en) | 2014-06-27 | 2014-06-27 | Automatic posture change system for care-bed users |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020140080132A KR101624405B1 (en) | 2014-06-27 | 2014-06-27 | Automatic posture change system for care-bed users |
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| KR20160001914A KR20160001914A (en) | 2016-01-07 |
| KR101624405B1 true KR101624405B1 (en) | 2016-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| KR1020140080132A KR101624405B1 (en) | 2014-06-27 | 2014-06-27 | Automatic posture change system for care-bed users |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| FR3051112B1 (en) * | 2016-05-12 | 2022-06-03 | Telecom Sante | METHOD AND DEVICE FOR CONTROLLING A MOTORIZED BED |
| CN112932840A (en) * | 2021-03-31 | 2021-06-11 | 上海交通大学 | A prevent bedsore intelligent nursing bed for disabling old man is supported old at home |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200346120Y1 (en) | 2003-12-31 | 2004-03-31 | 문봉기 | A bed to ajust an angle |
| JP2011078781A (en) | 2009-10-09 | 2011-04-21 | Hill-Rom Services Inc | Head of bed angle mounting, calibration, and monitoring system |
| JP2013111360A (en) * | 2011-11-30 | 2013-06-10 | Paramount Bed Co Ltd | Electric powered bed and method for preventing body from sliding down |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06133833A (en) | 1992-10-28 | 1994-05-17 | Daisan Sekkei Kogyo Kk | Bed for medical treatment |
| JP2000024053A (en) | 1998-07-07 | 2000-01-25 | Kyoeki Kogyo Kk | Medical bed |
| KR100743969B1 (en) | 2006-04-26 | 2007-07-30 | (재)대구기계부품연구원 | Multifunctional medical bed |
| KR101227967B1 (en) | 2010-11-05 | 2013-01-30 | 연세대학교 산학협력단 | Pressure ulcer prevention for medical bed |
-
2014
- 2014-06-27 KR KR1020140080132A patent/KR101624405B1/en active IP Right Grant
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200346120Y1 (en) | 2003-12-31 | 2004-03-31 | 문봉기 | A bed to ajust an angle |
| JP2011078781A (en) | 2009-10-09 | 2011-04-21 | Hill-Rom Services Inc | Head of bed angle mounting, calibration, and monitoring system |
| JP2013111360A (en) * | 2011-11-30 | 2013-06-10 | Paramount Bed Co Ltd | Electric powered bed and method for preventing body from sliding down |
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| KR20160001914A (en) | 2016-01-07 |
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